KR100932775B1 - 진공컵 어셈블리 - Google Patents
진공컵 어셈블리 Download PDFInfo
- Publication number
- KR100932775B1 KR100932775B1 KR1020090081882A KR20090081882A KR100932775B1 KR 100932775 B1 KR100932775 B1 KR 100932775B1 KR 1020090081882 A KR1020090081882 A KR 1020090081882A KR 20090081882 A KR20090081882 A KR 20090081882A KR 100932775 B1 KR100932775 B1 KR 100932775B1
- Authority
- KR
- South Korea
- Prior art keywords
- vacuum cup
- cup assembly
- suction pad
- passage
- fastener
- Prior art date
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/005—Vacuum work holders
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0616—Gripping heads and other end effectors with vacuum or magnetic holding means with vacuum
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/02—Feeding of components
-
- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05K—PRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
- H05K13/00—Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
- H05K13/04—Mounting of components, e.g. of leadless components
- H05K13/0404—Pick-and-place heads or apparatus, e.g. with jaws
- H05K13/0408—Incorporating a pick-up tool
- H05K13/0409—Sucking devices
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Microelectronics & Electronic Packaging (AREA)
- Robotics (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
- Manipulator (AREA)
- Passenger Equipment (AREA)
Abstract
Description
Claims (7)
- 내부에 상·하로 연장된 공기배출 제1통로가 형성된 파이프형 몸체와;상기 몸체의 하단부에 동축적으로 결합되며 측면에 외향 플랜지가 형성된 링형 체결구와, 상단에 상기 외향 플랜지 상에 안착되는 내향 플랜지가 형성된 유연 흡착패드를 포함하며, 상기 흡착패드의 내부공간이 상기 제1통로와 연통관계에 있는 진공컵과;상기 흡착패드의 내향 플랜지 상면에 접촉하도록 배치되는 링부재와, 일단이 상기 몸체에 지지되어 상기 링부재를 탄력적으로 가압하여 흡착패드를 압착 고정시키는 탄성부재를 포함하는 상·하 유동가능한 홀더;를 포함하는 것을 특징으로 하는 진공컵 어셈블리.
- 제1항에 있어서,상기 몸체의 하단부에는 내부에 제2통로를 가지는 파이프형 볼조인트가 결합되며; 상기 체결구가 상기 볼조인트의 볼부에 회동가능하게 결합되고; 이 때 상기 흡착패드의 내부공간은 상기 제2통로를 경유하여 상기 제1통로에 연통하게 되는 것을 특징으로 하는 진공컵 어셈블리.
- 제2항에 있어서,상기 체결구는: 상기 볼부의 상반구면에 대응하는 형태의 내면을 가지는 상부구조와 볼부의 하반구면에 대응하는 형태의 내면을 가지는 하부구조를 포함하며; 상기 상부구조와 하부구조는 서로 대향하여 상기 볼부를 수용하면서 체결되고; 이 때 상기 외향 플랜지는 상기 상부구조 또는 하부구조에 선택적으로 형성되는 것을 특징으로 하는 진공컵 어셈블리.
- 제1항에 있어서,상기 홀더는 상기 흡착패드의 내향 플랜지 상면과 측면에 접촉할 수 있도록 형성된 'ㄱ'자형 부재인 것을 특징으로 하는 진공컵 어셈블리.
- 제1항에 있어서,상기 탄성부재는 상기 몸체의 외부에 동축적으로 배치된 코일 스프링인 것을 특징으로 하는 진공컵 어셈블리.
- 제5항에 있어서,상기 코일 스프링은 하측으로 넓어지는 원추형 스프링인 것을 특징으로 하는 진공컵 어셈블리.
- 제5항에 있어서,상기 링부재는 가장자리 부분에 형성된 상향 돌기구조를 가지며, 상기 스프링은 그 타단이 상기 돌기구조에 지지되는 것을 특징으로 하는 진공컵 어셈블리.
Priority Applications (10)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020090081882A KR100932775B1 (ko) | 2009-09-01 | 2009-09-01 | 진공컵 어셈블리 |
PCT/KR2010/004209 WO2011027968A2 (ko) | 2009-09-01 | 2010-06-29 | 진공컵 어셈블리 |
EP10813877.7A EP2474490B1 (en) | 2009-09-01 | 2010-06-29 | Vacuum cup assembly |
MYPI2012000650 MY152224A (en) | 2009-09-01 | 2010-06-29 | Vacuum cup assembly |
AU2010290347A AU2010290347B2 (en) | 2009-09-01 | 2010-06-29 | Vacuum cup assembly |
US13/389,973 US9168642B2 (en) | 2009-09-01 | 2010-06-29 | Vacuum cup assembly |
BR112012003449A BR112012003449B1 (pt) | 2009-09-01 | 2010-06-29 | conjunto de ventosa a vácuo |
ES10813877.7T ES2691719T3 (es) | 2009-09-01 | 2010-06-29 | Ensamblaje de cápsula de vacío |
CN201080038920.2A CN102574645B (zh) | 2009-09-01 | 2010-06-29 | 真空吸杯组件 |
JP2012526620A JP5338984B2 (ja) | 2009-09-01 | 2010-06-29 | 真空コップアセンブリー |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020090081882A KR100932775B1 (ko) | 2009-09-01 | 2009-09-01 | 진공컵 어셈블리 |
Publications (1)
Publication Number | Publication Date |
---|---|
KR100932775B1 true KR100932775B1 (ko) | 2009-12-21 |
Family
ID=41684462
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
KR1020090081882A KR100932775B1 (ko) | 2009-09-01 | 2009-09-01 | 진공컵 어셈블리 |
Country Status (10)
Country | Link |
---|---|
US (1) | US9168642B2 (ko) |
EP (1) | EP2474490B1 (ko) |
JP (1) | JP5338984B2 (ko) |
KR (1) | KR100932775B1 (ko) |
CN (1) | CN102574645B (ko) |
AU (1) | AU2010290347B2 (ko) |
BR (1) | BR112012003449B1 (ko) |
ES (1) | ES2691719T3 (ko) |
MY (1) | MY152224A (ko) |
WO (1) | WO2011027968A2 (ko) |
Cited By (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012086949A2 (ko) * | 2010-12-21 | 2012-06-28 | 한국뉴매틱 주식회사 | 레벨보정 기능 갖는 진공컵 어셈블리 |
KR101194314B1 (ko) | 2012-01-17 | 2012-10-24 | 한국뉴매틱(주) | 홀딩-포인트를 갖는 그리퍼 장치 |
CN102975148A (zh) * | 2012-11-19 | 2013-03-20 | 无锡市洪成造纸机械有限公司 | 一种多定位点定位头结构 |
WO2015159997A1 (ko) | 2014-04-14 | 2015-10-22 | (주) 브이텍 | 패드 분리형 흡착컵 |
KR101899937B1 (ko) * | 2018-07-06 | 2018-09-18 | (주)브이텍 | 진공 그리퍼 장치 |
CN114056926A (zh) * | 2020-08-04 | 2022-02-18 | 富准精密模具(嘉善)有限公司 | 吸气笔 |
KR20220022975A (ko) * | 2020-08-20 | 2022-03-02 | 유희중 | 고층빌딩 유리창 청소로봇 |
Families Citing this family (36)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8904629B2 (en) * | 2012-03-09 | 2014-12-09 | LG CNS Co. Ltd. | Light-emitting diode (LED) wafer picker |
CN103659649B (zh) * | 2012-09-25 | 2016-12-21 | 鸿富锦精密工业(深圳)有限公司 | 零件吸取装置 |
US10214339B2 (en) | 2013-07-02 | 2019-02-26 | Memorial Sloan-Kettering Cancer Center | Apparatus, arrangement and method for providing skin care ingredients |
US10968027B2 (en) | 2013-07-02 | 2021-04-06 | Memorial Sloan-Kettering Cancer Center | Apparatus, arrangement and method for providing skin care ingredients |
KR101331692B1 (ko) | 2013-07-25 | 2013-11-20 | 주식회사 에이디시러스코리아 | 디스플레이 패널용 진공 흡착 장치 |
US20170208997A1 (en) * | 2014-07-18 | 2017-07-27 | Pi-Design Ag | Kitchen appliance for processing foodstuff |
US9415520B2 (en) * | 2014-08-11 | 2016-08-16 | Swivel-Link, LLC | Swivel link for mounting end of arm tooling |
JP6535847B2 (ja) * | 2014-09-26 | 2019-07-03 | ニチモウ株式会社 | 吸着ハンド |
CN104360508B (zh) * | 2014-11-21 | 2017-04-05 | 合肥鑫晟光电科技有限公司 | 一种承载台以及覆晶薄膜压接维修设备 |
SE538811C2 (sv) * | 2015-04-22 | 2016-12-13 | Lundin Christer | Leak preventing appliance and method for preventing liquid from leaking out of a damaged tank |
KR20160131749A (ko) | 2015-05-08 | 2016-11-16 | 현대자동차주식회사 | 진공청소 장치 |
CN105108674A (zh) * | 2015-08-03 | 2015-12-02 | 合肥鑫晟光电科技有限公司 | 支撑吸附组件、支撑装置及其操作方法 |
CN106002776B (zh) * | 2016-06-29 | 2017-12-22 | 毛利英 | 一种耐用管道支承装置 |
JP6791581B2 (ja) * | 2016-11-11 | 2020-11-25 | 株式会社ディスコ | パッケージ基板切断用治具テーブル |
US10350826B2 (en) * | 2017-04-03 | 2019-07-16 | Xerox Corporation | Vacuum tube object clamping array with conformable pads |
CN107640348B (zh) * | 2017-09-12 | 2023-06-30 | 天津荣新佳机械有限公司 | 一种酒瓶抓取装置 |
KR20200097684A (ko) * | 2017-12-22 | 2020-08-19 | 지마틱 에스.알.엘. | 매니퓰레이터의 흡입패드의 서스펜션 장치 |
WO2019143710A1 (en) | 2018-01-17 | 2019-07-25 | Berkshire Grey, Inc. | Systems and methods for efficiently moving a variety of objects |
CN108584666A (zh) * | 2018-05-24 | 2018-09-28 | 芜湖贝浩机械科技有限公司 | 一种工业自动化设备用真空吸盘 |
CN112752634B (zh) | 2018-07-27 | 2024-05-24 | 伯克希尔格雷营业股份有限公司 | 用于高效地交换端部执行器工具的***和方法 |
NL2022320B1 (en) * | 2018-12-28 | 2020-07-23 | Bollegraaf Patents And Brands B V | Suction head for a waste sorting system |
CN109607189A (zh) * | 2019-01-22 | 2019-04-12 | 深圳若贝特智能机器人科技有限公司 | 快速切换型高精度定位真空吸盘组件 |
CN109900639B (zh) * | 2019-04-17 | 2022-05-10 | 德玛克(长兴)自动化***有限公司 | 一种塑料容器中间体检测用固定装置 |
EP3959050B1 (en) * | 2019-04-25 | 2024-04-17 | Berkshire Grey Operating Company, Inc. | System and method for maintaining vacuum hose life in hose routing systems in programmable motion systems |
US10913165B1 (en) * | 2019-05-31 | 2021-02-09 | Amazon Technologies, Inc. | Rotating end of arm tool including asymmetrical independently controllable suction zones |
CN114174017A (zh) | 2019-08-08 | 2022-03-11 | 伯克希尔格雷股份有限公司 | 用于在可编程运动装置中提供具有噪声减低的顺应性末端执行器的***和方法 |
CN110474513B (zh) * | 2019-08-19 | 2021-06-18 | 珠海格力智能装备有限公司 | 旋转机构及具有其的电容检测装置 |
TWI759665B (zh) * | 2019-12-12 | 2022-04-01 | 鴻勁精密股份有限公司 | 接合具及其應用之作業設備 |
US11351677B2 (en) * | 2020-06-25 | 2022-06-07 | Oxygen Development LLC | Multi-pan insertion tool |
CN112975792B (zh) * | 2021-05-18 | 2021-09-07 | 天津金海通半导体设备股份有限公司 | 一种高精度对准可随动自适应浮动吸头 |
US11856898B2 (en) | 2021-08-03 | 2024-01-02 | 4Ag Robotics Inc. | Automated mushroom harvesting system |
JP7451467B2 (ja) | 2021-09-07 | 2024-03-18 | 東芝エレベータ株式会社 | 手すりベルトの汚れ箇所検出・表示装置および手すりベルトの汚れ検出方法 |
CN114620481A (zh) * | 2022-04-21 | 2022-06-14 | 安徽巨一科技股份有限公司 | 一种多车型柔性无级自适应切换搬运装置及其控制方法 |
CN115159099A (zh) * | 2022-08-17 | 2022-10-11 | 安庆市芊芊纸业有限公司 | 一种瓦楞纸杯加工用自动转运装置 |
CN115366140B (zh) * | 2022-10-25 | 2023-01-13 | 河北世昌汽车部件股份有限公司 | 一种取油箱制品机械手 |
WO2024098129A1 (pt) * | 2022-11-09 | 2024-05-16 | Campos Da Silva Marco Antonio | Dispositivo portátil de vibração com fixação por ventosa |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2589963Y2 (ja) * | 1991-07-16 | 1999-02-03 | エスエムシー株式会社 | 吸着用パッドの接続機構 |
KR20020059344A (ko) * | 1999-07-29 | 2002-07-12 | 아엠제 | 모듈러 그립퍼 |
JP2005028489A (ja) | 2003-07-10 | 2005-02-03 | Shoda Techtron Corp | 吸着パッド装置 |
KR100591059B1 (ko) | 2005-07-04 | 2006-06-20 | 이용복 | 작동암조인트장치 |
Family Cites Families (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2303393A (en) * | 1940-01-10 | 1942-12-01 | Charles O Moore | Vacuum lifting device |
US2871054A (en) * | 1956-07-05 | 1959-01-27 | Zinke Erwin Max | Suction cup |
US3102751A (en) | 1959-12-22 | 1963-09-03 | Noble Jack Donald | Contact-type lifting device |
GB1068514A (en) | 1963-05-03 | 1967-05-10 | Headley Townsend Backhouse | Improvements in or relating to suction grippers |
CH541507A (de) * | 1970-07-15 | 1973-09-15 | Eckert Paul | Lastaufnahmevorrichtung für Hebezeug |
US3910620A (en) * | 1974-04-15 | 1975-10-07 | American Chain & Cable Co | High temperature vacuum pad lift |
US4129328A (en) | 1977-06-20 | 1978-12-12 | Littell Edmund R | Plate handling apparatus with load deflection compensation |
US4266905A (en) * | 1979-04-20 | 1981-05-12 | Board Of Regents For Education Of The State Of Rhode Island | Apparatus for acquiring workpieces from a storage bin or the like |
JPS58889U (ja) * | 1981-06-26 | 1983-01-06 | 積水ハウス株式会社 | 板状体移送用吸着具 |
US4747634A (en) * | 1986-12-18 | 1988-05-31 | Hoke Thomas A | Apparatus for suspending a lifting pad |
US4685714A (en) | 1986-12-18 | 1987-08-11 | Hoke Thomas A | Lifting assembly |
JPH01203193A (ja) * | 1988-02-08 | 1989-08-15 | Murata Mfg Co Ltd | 吸着装置 |
US4957318A (en) | 1988-03-07 | 1990-09-18 | John A. Blatt | Vacuum cup assembly |
US5029383A (en) * | 1990-06-07 | 1991-07-09 | Universal Instruments Corporation | Articulating tip for pick and place head |
DE4128659C2 (de) * | 1990-09-06 | 1996-01-25 | Smc Kk | Saugnapf |
US5193776A (en) * | 1990-10-05 | 1993-03-16 | Smc Kabushiki Kaisha | Mechanism for locking angular movement of suction pad |
US5135276A (en) | 1991-01-09 | 1992-08-04 | John A. Blatt | Transfer boom |
US5152566A (en) | 1991-01-09 | 1992-10-06 | John A. Blatt | Spreader arm mounting device |
US5172922A (en) * | 1991-04-25 | 1992-12-22 | Digital Equipment Corporation | Self aligning vacuum nozzle |
JPH059885A (ja) * | 1991-07-03 | 1993-01-19 | Sumitomo Heavy Ind Ltd | 黒液処理装置 |
US5733097A (en) | 1994-12-12 | 1998-03-31 | Syron Engineering & Manufacturing Corp. | Cross-bar tool mounting system |
CH689389A5 (de) * | 1995-03-31 | 1999-03-31 | Ferag Ag | Saugorgan. |
CN2409190Y (zh) * | 1999-11-17 | 2000-12-06 | 崔学发 | 手提式真空吸盘自由抓取镶嵌专用工具装置 |
JP2001246588A (ja) * | 2000-02-29 | 2001-09-11 | Ando Electric Co Ltd | 電子部品搬送装置及び電子部品搬送方法 |
US7374217B2 (en) * | 2001-09-28 | 2008-05-20 | Parker-Hannifin Corporation | Two way non leaking flow valve with full-open capability |
CN1533968A (zh) * | 2003-03-31 | 2004-10-06 | 株式会社村田制作所 | 吸附嘴以及使用其的部件安装装置 |
JP4448939B2 (ja) * | 2003-12-26 | 2010-04-14 | キリンテクノシステム株式会社 | 吸引式壜台及びその吸引ヘッド |
JP2005288595A (ja) * | 2004-03-31 | 2005-10-20 | Nippon Pisuko:Kk | 吸着パッド装置 |
KR20060114876A (ko) | 2005-05-03 | 2006-11-08 | 히로타까세이끼가부시끼가이샤 | 흡착 유지 장치 |
JP4551317B2 (ja) * | 2005-11-30 | 2010-09-29 | 日東工器株式会社 | 管継手及び管継手の雄型部材 |
JP5065621B2 (ja) * | 2006-05-26 | 2012-11-07 | 株式会社アルバック | 真空吸着パッド |
KR200444724Y1 (ko) * | 2007-10-17 | 2009-06-01 | 김용만 | 과일제피기 흡착장치 |
-
2009
- 2009-09-01 KR KR1020090081882A patent/KR100932775B1/ko active IP Right Grant
-
2010
- 2010-06-29 WO PCT/KR2010/004209 patent/WO2011027968A2/ko active Application Filing
- 2010-06-29 ES ES10813877.7T patent/ES2691719T3/es active Active
- 2010-06-29 CN CN201080038920.2A patent/CN102574645B/zh active Active
- 2010-06-29 MY MYPI2012000650 patent/MY152224A/en unknown
- 2010-06-29 EP EP10813877.7A patent/EP2474490B1/en active Active
- 2010-06-29 US US13/389,973 patent/US9168642B2/en active Active
- 2010-06-29 BR BR112012003449A patent/BR112012003449B1/pt active IP Right Grant
- 2010-06-29 JP JP2012526620A patent/JP5338984B2/ja active Active
- 2010-06-29 AU AU2010290347A patent/AU2010290347B2/en not_active Ceased
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2589963Y2 (ja) * | 1991-07-16 | 1999-02-03 | エスエムシー株式会社 | 吸着用パッドの接続機構 |
KR20020059344A (ko) * | 1999-07-29 | 2002-07-12 | 아엠제 | 모듈러 그립퍼 |
JP2005028489A (ja) | 2003-07-10 | 2005-02-03 | Shoda Techtron Corp | 吸着パッド装置 |
KR100591059B1 (ko) | 2005-07-04 | 2006-06-20 | 이용복 | 작동암조인트장치 |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2012086949A2 (ko) * | 2010-12-21 | 2012-06-28 | 한국뉴매틱 주식회사 | 레벨보정 기능 갖는 진공컵 어셈블리 |
WO2012086949A3 (ko) * | 2010-12-21 | 2012-08-30 | 한국뉴매틱 주식회사 | 레벨보정 기능 갖는 진공컵 어셈블리 |
KR101194314B1 (ko) | 2012-01-17 | 2012-10-24 | 한국뉴매틱(주) | 홀딩-포인트를 갖는 그리퍼 장치 |
WO2013108992A1 (ko) * | 2012-01-17 | 2013-07-25 | 한국뉴매틱 주식회사 | 홀딩-포인트를 갖는 그리퍼 장치 |
CN102975148A (zh) * | 2012-11-19 | 2013-03-20 | 无锡市洪成造纸机械有限公司 | 一种多定位点定位头结构 |
WO2015159997A1 (ko) | 2014-04-14 | 2015-10-22 | (주) 브이텍 | 패드 분리형 흡착컵 |
KR101899937B1 (ko) * | 2018-07-06 | 2018-09-18 | (주)브이텍 | 진공 그리퍼 장치 |
WO2020009323A1 (ko) * | 2018-07-06 | 2020-01-09 | (주)브이텍 | 진공 그리퍼 장치 |
CN114056926A (zh) * | 2020-08-04 | 2022-02-18 | 富准精密模具(嘉善)有限公司 | 吸气笔 |
KR20220022975A (ko) * | 2020-08-20 | 2022-03-02 | 유희중 | 고층빌딩 유리창 청소로봇 |
KR102448418B1 (ko) * | 2020-08-20 | 2022-09-28 | 유희중 | 고층빌딩 유리창 청소로봇 |
Also Published As
Publication number | Publication date |
---|---|
US9168642B2 (en) | 2015-10-27 |
MY152224A (en) | 2014-08-29 |
EP2474490B1 (en) | 2018-08-22 |
EP2474490A2 (en) | 2012-07-11 |
JP2013503047A (ja) | 2013-01-31 |
ES2691719T3 (es) | 2018-11-28 |
AU2010290347A1 (en) | 2012-03-08 |
CN102574645B (zh) | 2014-07-23 |
BR112012003449B1 (pt) | 2019-08-27 |
JP5338984B2 (ja) | 2013-11-13 |
BR112012003449A2 (pt) | 2017-05-23 |
WO2011027968A2 (ko) | 2011-03-10 |
WO2011027968A3 (ko) | 2011-04-28 |
AU2010290347B2 (en) | 2013-12-05 |
US20130147101A1 (en) | 2013-06-13 |
CN102574645A (zh) | 2012-07-11 |
EP2474490A4 (en) | 2017-06-07 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
KR100932775B1 (ko) | 진공컵 어셈블리 | |
CA2688226C (en) | Gripper, in particular a bernoulli gripper | |
KR100926534B1 (ko) | 각변위 가능한 진공-그리퍼 장치 | |
KR101068954B1 (ko) | 레벨보정 기능 갖는 진공컵 어셈블리 | |
JP6187839B2 (ja) | パッド分離型吸着カップ | |
KR102344555B1 (ko) | 엔드 이펙터용 흡입 장치, 기판을 홀딩하기 위한 엔드 이펙터 및 엔드 이펙터를 제조하는 방법 | |
JP2010276182A (ja) | 吸盤装置 | |
US9724806B2 (en) | Device for clamping a workpiece to a workbench | |
JP6029354B2 (ja) | ウェーハ研削装置およびウェーハ研削方法 | |
JP5756956B2 (ja) | 真空吸着装置 | |
JP4966152B2 (ja) | 吸着具 | |
KR20100108176A (ko) | 원터치진공흡착구 | |
KR101195176B1 (ko) | 진공 흡착장치용 패드 | |
WO2008123692A1 (en) | Vacuum suction apparatus | |
WO2014048383A1 (zh) | 吸盘装置及其擦玻璃装置 | |
CN210823918U (zh) | 一种夹持稳定的建筑砖夹 | |
JP3143592U (ja) | ドームプレートホルダー | |
CN211338489U (zh) | 一种自粘吸盘装置 | |
KR101605961B1 (ko) | 반도체 다이 픽업용 콜렛 | |
TWM576211U (zh) | Suction cup and its suction cup auxiliary suction cup | |
CN209796809U (zh) | 一种柔性物料抓取装置 | |
TWI605995B (zh) | Connection nozzle assembly structure (a) | |
JPH027029Y2 (ko) | ||
KR20220116311A (ko) | 접촉 연장부 또는 조절가능한 정지부를 갖는 기판 연마 장치 | |
JP3148307U (ja) | せっけん固定具 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
A201 | Request for examination | ||
A302 | Request for accelerated examination | ||
E701 | Decision to grant or registration of patent right | ||
GRNT | Written decision to grant | ||
FPAY | Annual fee payment |
Payment date: 20121009 Year of fee payment: 4 |
|
FPAY | Annual fee payment |
Payment date: 20131028 Year of fee payment: 5 |
|
FPAY | Annual fee payment |
Payment date: 20140929 Year of fee payment: 6 |
|
FPAY | Annual fee payment |
Payment date: 20151006 Year of fee payment: 7 |
|
FPAY | Annual fee payment |
Payment date: 20161117 Year of fee payment: 8 |
|
FPAY | Annual fee payment |
Payment date: 20171120 Year of fee payment: 9 |
|
FPAY | Annual fee payment |
Payment date: 20181107 Year of fee payment: 10 |
|
FPAY | Annual fee payment |
Payment date: 20191030 Year of fee payment: 11 |